/* Serial.hh -- Serial
 *
 * Copyright (C) 2008, Diogo F. S. Ramos <diogo.ramos@usp.br>
 * GEAR - Grupo de Estudos Avançados em Robótica
 * <http://www.sel.eesc.usp.br/gear>
 * 
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef SERIAL_HH_
#define SERIAL_HH_

#include <string>
#include <termios.h>

#include "Matrix.hh"

/** Caminho padrão de serial */
#define SERIAL_DEFAULT_PATH "/dev/ttyS0"

class Serial{
    std::string path_;
    int fd_;
    struct termios options_;
    int speed_;

    int command_size_;
    unsigned char * command_;
    int command_repeat_;

    unsigned char * conf_;
    unsigned char * motor_1_;
    unsigned char * motor_2_;
    unsigned char * motor_3_;

    struct timespec delay_;
    struct timespec sobrando_;

    Matrix * matrix_conv_;
    Matrix * matrix_vels_;
    Matrix * matrix_motor_vels_;

    // Funções
    void updateChecksun();
    void sendCommand();
    void setConf( const char conf );
    void motorSetDirection( unsigned char * conf, int motor, int invert );
    int getMsAsPWM( const float vel_ms );
public:
    Serial();
    ~Serial();
    int Init( const std::string end, const std::string serial_path );
    void robotKick( const int nivel );
    void robotDribbleEnable( const int enable );
    void robotSetVelPWM( const float vx, const float vy, const float va );
    void robotSetVel( const float vx, const float vy, const float va );
};

#endif	/* SERIAL_HH_ */
